CN112190182B - Method for finishing cleaning task in cluster mode - Google Patents
Method for finishing cleaning task in cluster modeDownload PDFInfo
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- CN112190182B CN112190182BCN202011016190.8ACN202011016190ACN112190182BCN 112190182 BCN112190182 BCN 112190182BCN 202011016190 ACN202011016190 ACN 202011016190ACN 112190182 BCN112190182 BCN 112190182B
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- sweeper
- garbage
- unmanned
- charging seat
- swing arm
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- 238000004140cleaningMethods0.000titleclaimsabstractdescription56
- 238000000034methodMethods0.000titleclaimsabstractdescription21
- 241001417527PempheridaeSpecies0.000claimsabstractdescription169
- 238000010408sweepingMethods0.000claimsabstractdescription26
- 238000009434installationMethods0.000claimsabstractdescription6
- 238000011086high cleaningMethods0.000abstractdescription4
- 230000007547defectEffects0.000description2
- 230000009286beneficial effectEffects0.000description1
- 238000010586diagramMethods0.000description1
- 238000005516engineering processMethods0.000description1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the technical field of unmanned sweeping vehicles, in particular to a method for finishing a sweeping task in a cluster manner.
Background
The sweeper generally refers to a driving type commercial sweeper, and the electric sweeper is the most common sweeper, and the sweeper on a municipal road is generally gasoline or diesel; the electric sweeper is mainly used for occasions such as property districts, factory workshops, hotel cleaning, municipal sanitation and the like. Along with the continuous development and progress of the automatic driving technology, the unmanned sweeper comes along, and various unmanned sweeper products exist in the prior art.
For the existing unmanned sweeper, the garbage hopper is filled with garbage or the sweeping operation is completed, the garbage in the garbage hopper needs to be poured out by the aid of manpower, and then the garbage is concentrated in the garbage collection station. For the garbage collection mode, the defects of low automation degree, high manual participation degree and high cost exist, and the working efficiency of the unmanned sweeper is limited to a certain degree.
Disclosure of Invention
The invention aims to provide a method for completing a cleaning task in a cluster mode, which has high automation degree and high cleaning operation efficiency and does not need manual participation, aiming at the defects of the prior art.
In order to achieve the above-mentioned aspects, the present invention is implemented by the following technical solutions.
A method for completing a cleaning task in a cluster mode comprises the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server schedules the unmanned sweeper according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper to clean;
d. each idle unmanned sweeper respectively enters a respective sweeping task area according to the scheduling of the server, and each unmanned sweeper respectively carries out sweeping operation on the respective sweeping task area;
e. when the cleaning operation of the unmanned sweeper on the task area is completed or a garbage hopper of the unmanned sweeper is full of garbage, the unmanned sweeper needing to dump the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out a garbage hopper of the unmanned sweeper through a garbage collection device; the garbage collection device of the garbage collection station is a multi-shaft manipulator;
g. the garbage collection device pours the extracted garbage in the garbage hopper into a garbage collection station;
h. the garbage collection device sends the garbage bucket back to the installation position of the unmanned sweeper;
i. for the unmanned sweeper which does not finish the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper which finishes the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the position of the sweeper charging seat for charging.
The garbage collection device of the garbage collection station comprises a first movable swing arm, a second movable swing arm, a collection station upper end hinged seat and a collection station lower end hinged seat, wherein the collection station upper end hinged seat is positioned on the upper end side of the collection station lower end hinged seat, and the collection station upper end hinged seat and the collection station lower end hinged seat are respectively and tightly mounted on the garbage collection station;
the rear end part of the first movable swing arm is hinged to the hinge seat at the upper end of the collecting station through a pivot, a first driving air cylinder is arranged between the first movable swing arm and the hinge seat at the lower end of the collecting station, the cylinder body of the first driving air cylinder is hinged to the hinge seat at the lower end of the collecting station through the pivot, and the extending end part of the piston rod of the first driving air cylinder is hinged to the middle part of the first movable swing arm through the pivot;
the front end part of the first movable swing arm is hinged with the middle part of the second movable swing arm through a pivot, a second driving cylinder is arranged between the first movable swing arm and the second movable swing arm, the cylinder body of the second driving cylinder is hinged with the middle part of the first movable swing arm through the pivot, and the extending end part of the piston rod of the second driving cylinder is hinged with the rear end part of the second movable swing arm through the pivot;
the front end part of the second movable swing arm is provided with a garbage bucket clamp, the second movable swing arm is hinged with a clamp driving cylinder at the rear end side of the garbage bucket clamp, and the extending end part of a piston rod of the clamp driving cylinder is in driving connection with the garbage bucket clamp.
The sweeping vehicle comprises a sweeping vehicle body, a sweeping vehicle controller, a sweeping vehicle control module and a control module, wherein the tail of the unmanned sweeping vehicle is provided with a camera and a sweeping vehicle touch bar which are respectively and electrically connected with the controller of the unmanned sweeping vehicle;
the front surface of the charging seat of the sweeper is provided with two pattern marks which are arranged at intervals left and right and are bilaterally and symmetrically about the contact strip of the charging seat;
the unmanned sweeper is charged by adopting the following method:
a1, starting a camera, and transmitting image data to the controller in real time by the camera;
a2, adjusting the remote motion of the unmanned sweeping vehicle;
a3, judging whether the camera acquires the pattern mark of the charging seat of the sweeper by the controller; when the camera successfully acquires the pattern mark of the charging seat of the sweeper, carrying out the subsequent steps; when the camera does not acquire the pattern mark of the charging seat of the sweeper, the step a2 is carried out again;
a4, detecting the direction range of the sweeper charging seat relative to the unmanned sweeper;
a5, adjusting the movement of the unmanned sweeper;
a6, the controller judges whether the left and right pattern marks are symmetrically distributed in the center of the image; when the left and right pattern marks are symmetrically distributed in the center of the image, carrying out the subsequent steps; when the two pattern marks on the left and the right are not symmetrically distributed in the center of the image, the step a4 is performed again;
a7, enabling the unmanned sweeper to linearly retreat;
a8, judging whether the contact strip of the sweeper contacts the contact strip of the charging seat by the controller; when the contact strip of the sweeper is contacted with the contact strip of the charging seat, the unmanned sweeper is charged; when the sweeper bar is not in contact with the charging dock bar, step a7 is repeated.
Wherein, the pattern mark is a two-dimensional code mark.
The infrared emission sensor and the sweeper touch bar are respectively and electrically connected with the controller of the unmanned sweeper;
the sweeper charging seat is provided with a left and right driving linear module with left and right horizontal actions, the driving end of the left and right driving linear module is provided with a front and back driving linear module with front and back horizontal actions, the driving end of the front and back driving linear module is provided with a movable mounting frame of which the front end part extends to the front end side of the sweeper charging seat, and the front end part of the movable mounting frame is provided with a charging seat tentacle and an infrared receiving sensor positioned beside the charging seat tentacle; the sweeper charging seat is also provided with a charging seat controller, and the left and right driving linear module, the front and back driving linear module, the charging seat tentacle and the infrared receiving sensor are respectively and electrically connected with the charging seat controller;
the unmanned sweeper is charged by adopting the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeper controller of the unmanned sweeper according to the navigation information, so that the unmanned sweeper moves to the front of a charging seat of the sweeper;
b2, the infrared emission sensor sends infrared signals to the charging seat of the sweeper, and the infrared signal area sent by the infrared emission sensor is divided into a left signal area, a middle signal area and a right signal area;
b3, the infrared receiving sensor receives the infrared signal sent by the infrared emission sensor; when the infrared receiving sensor receives an infrared signal of a left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move towards the right side until the infrared receiving sensor receives the infrared signal of a middle signal area; when the infrared receiving sensor receives an infrared signal of a right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move towards the left side until the infrared receiving sensor receives the infrared signal of a middle signal area; when the infrared receiving sensor receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after the infrared receiving sensor receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move forwards; when the contact of the charging seat does not contact the sweeper contact bar of the unmanned sweeper, the front and back driving linear module drives the movable mounting frame, the infrared receiving sensor and the charging seat contact bar to continuously move forwards until the contact of the charging seat contacts the sweeper contact bar of the unmanned sweeper; when the charging seat tentacle contacts the sweeper tentacle of the unmanned sweeper, the sweeper charging seat is electrically contacted with the sweeper tentacle through the charging seat tentacle to charge the power supply battery of the unmanned sweeper.
The invention has the beneficial effects that: the invention relates to a method for finishing cleaning tasks in a cluster mode, which comprises the following steps: a. the mobile terminal or the computer terminal sends a cleaning task to the server; b. the server plans a cleaning area according to the cleaning task; c. the server schedules the unmanned sweeper according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper to clean; d. each idle unmanned sweeper respectively enters a respective sweeping task area according to the scheduling of the server, and each unmanned sweeper respectively carries out sweeping operation on the respective sweeping task area; e. when the cleaning operation of the unmanned sweeper on the task area is completed or a garbage hopper of the unmanned sweeper is full of garbage, the unmanned sweeper needing to dump the garbage goes to a garbage collection station according to the navigation information; f. the garbage collection station draws out a garbage hopper of the unmanned sweeper through a garbage collection device; the garbage collection device of the garbage collection station is a multi-shaft manipulator; g. the garbage collection device pours the extracted garbage in the garbage hopper into a garbage collection station; h. the garbage collection device sends the garbage bucket back to the installation position of the unmanned sweeper; i. for the unmanned sweeper which does not finish the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper which finishes the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the position of the sweeper charging seat for charging. The invention can automatically and efficiently complete the cleaning task of the formulated cleaning area, has high automation degree and high cleaning operation efficiency, and does not need manual participation.
Drawings
The invention will be further described with reference to the drawings to which, however, the embodiments shown in the drawings do not constitute any limitation.
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic structural diagram of the garbage collection device of the present invention.
Fig. 3 is a flowchart of a charging method according to the present invention.
Fig. 4 is a schematic view of the charging stand of the unmanned sweeper and the sweeper corresponding to the charging method shown in fig. 3.
Fig. 5 is a flowchart of another charging method according to the present invention.
Fig. 6 is a schematic view of the charging stand of the unmanned sweeper and the sweeper corresponding to the charging method shown in fig. 5.
Fig. 1 to 6 include:
1-unmanned sweeping vehicle 11-garbage bucket
12-camera 13-sweeper touch strip
14-infrared emission sensor 2-garbage collection device
21-first Movable swing arm 22-second Movable swing arm
23-collection station upper end hinge seat 24-collection station lower end hinge seat
25-first drive Cylinder 26-second drive Cylinder
27-garbage bucket clamp 28-clamp driving cylinder
3-sweeper charging seat 311-charging seat touch strip
312-Pattern designation 321-Flexible Mount
322-charging base tentacle 323-infrared receiving sensor.
Detailed Description
The present invention will be described below with reference to specific embodiments.
As shown in fig. 1, a method for completing a cleaning task in a cluster manner includes the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server dispatches the unmanned sweeper 1 according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper 1 to clean;
d. each idle unmanned sweeper 1 respectively enters a respective cleaning task area according to the scheduling of the server, and each unmanned sweeper 1 respectively cleans the respective cleaning task area;
e. when the cleaning operation of the unmanned sweeper 1 on the task area is completed or thegarbage hopper 11 of the unmanned sweeper 1 is full of garbage, the unmanned sweeper 1 needing to dump the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out agarbage hopper 11 of the unmanned sweeper 1 through thegarbage collection device 2; thegarbage collection device 2 of the garbage collection station is a multi-shaft manipulator;
g. thegarbage collection device 2 pours the extracted garbage in thegarbage hopper 11 into a garbage collection station;
h. thegarbage collection device 2 sends thegarbage hopper 11 back to the installation position of the unmanned sweeper 1;
i. for the unmanned sweeper 1 which does not finish the cleaning operation of the task area, the unmanned sweeper 1 which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper 1 which finishes the cleaning operation of the task area, the unmanned sweeper 1 which finishes the garbage dumping action returns to the position of thesweeper charging seat 3 for charging.
The method for finishing the cleaning task in a cluster manner can finish the cleaning task of a formulated cleaning area automatically and efficiently, has high automation degree and high cleaning operation efficiency, and does not need manual participation.
As a preferred embodiment, as shown in fig. 2, thegarbage collection device 2 of the garbage collection station comprises a firstmovable swing arm 21, a secondmovable swing arm 22, a collection station upper end hingeseat 23, and a collection station lowerend hinge seat 24, wherein the collection station upper end hingeseat 23 is located at the upper end side of the collection station lowerend hinge seat 24, and the collection station upper end hingeseat 23 and the collection station lowerend hinge seat 24 are respectively fastened and installed on the garbage collection station;
the rear end part of the firstmovable swing arm 21 is hinged to ahinge seat 23 at the upper end of the collecting station through a pivot, a firstdriving air cylinder 25 is arranged between the firstmovable swing arm 21 and thehinge seat 24 at the lower end of the collecting station, the cylinder body of the firstdriving air cylinder 25 is hinged to thehinge seat 24 at the lower end of the collecting station through a pivot, and the extending end part of the piston rod of the firstdriving air cylinder 25 is hinged to the middle part of the firstmovable swing arm 21 through a pivot;
the front end part of the firstmovable swing arm 21 is hinged with the middle part of the secondmovable swing arm 22 through a pivot, asecond driving cylinder 26 is arranged between the firstmovable swing arm 21 and the secondmovable swing arm 22, the cylinder body of thesecond driving cylinder 26 is hinged with the middle part of the firstmovable swing arm 21 through a pivot, and the extending end part of the piston rod of thesecond driving cylinder 26 is hinged with the rear end part of the secondmovable swing arm 22 through a pivot;
the front end of the secondmovable swing arm 22 is provided with agarbage bucket clamp 27, the secondmovable swing arm 22 is hinged with aclamp driving cylinder 28 at the rear end side of thegarbage bucket clamp 27, and the extending end of the piston rod of theclamp driving cylinder 28 is in driving connection with thegarbage bucket clamp 27.
In the garbage collection device 2, in the process of extracting the garbage bucket 11 of the unmanned sweeper 1 and pouring the garbage in the garbage bucket 11 into the garbage collection station, the garbage bucket clamp 27 firstly moves to the position of the garbage bucket 11 of the unmanned sweeper 1, and then the clamp drives the air cylinder 28 to act, so that the garbage bucket clamp 27 clamps the garbage bucket 11; after the garbage bucket 11 is clamped by the garbage bucket clamp 27, the first driving air cylinder 25 drives the first movable swing arm 21 to swing upwards, and the garbage bucket 11 of the garbage bucket clamp 27 moves to the upper part of the garbage collection station; after the garbage hopper 11 moves above the garbage collection station, the second driving cylinder 26 drives the second movable swing arm 22 to swing upwards, and the second movable swing arm 22 swinging upwards enables the garbage hopper 11 to turn over, so that the garbage hopper 11 in the garbage hopper 11 is poured out; after the garbage in the garbage bucket 11 is poured out, the first driving cylinder 25 drives the first movable swing arm 21 to reset, the second driving cylinder 26 drives the second movable swing arm 22 to reset, the garbage bucket 11 clamped by the garbage bucket 11 is reset to the installation position of the unmanned sweeper 1, and then the clamp driving cylinder 28 acts and the garbage bucket clamp 27 releases the garbage bucket 11.
In addition, as shown in fig. 4, the rear part of the unmanned sweeper 1 is provided with acamera 12 and asweeper bar 13, and thecamera 12 and thesweeper bar 13 are respectively electrically connected with the controller of the unmanned sweeper 1; the front of thesweeper charging seat 3 is provided with a chargingseat contact strip 311, and the front of thesweeper charging seat 3 is provided with two pattern marks 312 which are arranged at intervals left and right and are symmetrically arranged on the left and right of the chargingseat contact strip 311. Preferably, thepattern mark 312 is a two-dimensional code mark.
As shown in fig. 3, the unmanned sweeping vehicle 1 is charged by the following method:
a1, starting thecamera 12, and transmitting image data to the controller in real time by thecamera 12;
a2, adjusting the remote motion of the unmanned sweeper 1;
a3, the controller judges whether thecamera 12 obtains thepattern mark 312 of the chargingseat 3 of the sweeper; when thecamera 12 successfully acquires thepattern mark 312 of the chargingseat 3 of the sweeper, performing the subsequent steps; when thecamera 12 does not acquire thepattern mark 312 of the chargingseat 3 of the sweeper, the step a2 is performed again;
a4, detecting the direction range of thesweeper charging seat 3 relative to the unmanned sweeper 1;
a5, adjusting the movement of the unmanned sweeper 1;
a6, the controller judges whether the two pattern marks 312 are symmetrically distributed at the center of the image; when the left and right pattern marks 312 are symmetrically distributed in the center of the image, the subsequent steps are performed; when the left andright pattern symbols 312 are not symmetrically distributed in the center of the image, the step a4 is performed again;
a7, enabling the unmanned sweeper 1 to linearly retreat;
a8, judging whether thesweeper touch bar 13 is in contact with the chargingseat touch bar 311 by the controller; when thesweeper touch bar 13 is in contact with the chargingseat touch bar 311, the unmanned sweeper 1 is charged; when thesweeper bar 13 is not in contact with the chargingdock bar 311, step a7 is resumed.
As a preferred embodiment, as shown in fig. 6, aninfrared emission sensor 14 and asweeper bar 13 are mounted at the tail of the unmanned sweeper 1, and theinfrared emission sensor 14 and thesweeper bar 13 are respectively electrically connected with a controller of the unmanned sweeper 1; thesweeper charging seat 3 is provided with a left and right driving linear module with left and right horizontal actions, the driving end of the left and right driving linear module is provided with a front and back driving linear module with front and back horizontal actions, the driving end of the front and back driving linear module is provided with amovable mounting bracket 321 the front end of which extends to the front end side of thesweeper charging seat 3, and the front end part of themovable mounting bracket 321 is provided with a chargingseat tentacle 322 and aninfrared receiving sensor 323 positioned at the side of the chargingseat tentacle 322; thesweeper charging seat 3 is also provided with a charging seat controller, and the left and right driving linear module, the front and back driving linear module, the chargingseat tentacle 322 and theinfrared receiving sensor 323 are respectively and electrically connected with the charging seat controller.
As shown in fig. 5, the unmanned sweeping vehicle 1 is charged by the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeping vehicle controller of the unmanned sweeping vehicle 1 according to the navigation information, so that the unmanned sweeping vehicle 1 moves to the front of the sweepingvehicle charging seat 3;
b2, theinfrared emission sensor 14 sends infrared signals to thesweeper charging seat 3, and the infrared signal area sent by theinfrared emission sensor 14 is divided into a left signal area, a middle signal area and a right signal area;
b3, theinfrared receiving sensor 323 receives the infrared signal sent by theinfrared emission sensor 14; when theinfrared receiving sensor 323 receives the infrared signal of the left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive themovable mounting frame 321, theinfrared receiving sensor 323 and the chargingseat tentacle 322 to move towards the right side until theinfrared receiving sensor 323 receives the infrared signal of the middle signal area; when theinfrared receiving sensor 323 receives the infrared signal of the right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive themovable mounting frame 321, theinfrared receiving sensor 323 and the chargingseat tentacle 322 to move towards the left until theinfrared receiving sensor 323 receives the infrared signal of the middle signal area; when theinfrared receiving sensor 323 receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after theinfrared receiving sensor 323 receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives themovable mounting frame 321, theinfrared receiving sensor 323 and the chargingseat tentacle 322 to move forwards; when the chargingseat tentacle 322 does not contact thesweeper tentacle 13 of the unmanned sweeper 1, the front-back driving linear module drives themovable mounting frame 321, theinfrared receiving sensor 323 and the chargingseat tentacle 322 to continuously move forwards until the chargingseat tentacle 322 contacts thesweeper tentacle 13 of the unmanned sweeper 1; when the chargingseat tentacle 322 contacts thesweeper contact strip 13 of the unmanned sweeper 1, thesweeper charging seat 3 electrically contacts thesweeper contact strip 13 through the chargingseat tentacle 322 to charge the power supply battery of the unmanned sweeper 1.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (2)
1. A method for completing a cleaning task in a cluster manner is characterized by comprising the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server dispatches the unmanned sweeper (1) according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper (1) to clean;
d. each idle unmanned sweeper (1) respectively enters a respective cleaning task area according to the scheduling of the server, and each unmanned sweeper (1) respectively cleans the respective cleaning task area;
e. when the cleaning operation of the unmanned sweeper (1) on a task area is completed or a garbage hopper (11) of the unmanned sweeper (1) is full of garbage, the unmanned sweeper (1) needing to pour the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out a garbage hopper (11) of the unmanned sweeper (1) through a garbage collection device (2); wherein the garbage collection device (2) of the garbage collection station is a multi-shaft manipulator;
g. the garbage collection device (2) pours the extracted garbage in the garbage hopper (11) into a garbage collection station;
h. the garbage collection device (2) sends the garbage hopper (11) back to the installation position of the unmanned sweeper (1);
i. for the unmanned sweeper (1) which does not finish the cleaning operation of the task area, returning the unmanned sweeper (1) which finishes the garbage dumping action to the task area to continue the cleaning operation; for the unmanned sweeper (1) which finishes the cleaning operation of the task area, the unmanned sweeper (1) which finishes the garbage dumping action returns to the position of a sweeper charging seat (3) to be charged; the tail part of the unmanned sweeper (1) is provided with an infrared emission sensor (14) and a sweeper contact bar (13), and the infrared emission sensor (14) and the sweeper contact bar (13) are respectively and electrically connected with a controller of the unmanned sweeper (1); the sweeper is characterized in that a left and right driving linear module which horizontally moves left and right is arranged on a sweeper charging seat (3), a front and rear driving linear module which horizontally moves front and rear is arranged at the driving end of the left and right driving linear module, a movable mounting frame (321) with the front end part extending to the front end side of the sweeper charging seat (3) is arranged at the driving end of the front and rear driving linear module, a charging seat tentacle (322) and an infrared receiving sensor (323) located beside the charging seat tentacle (322) are arranged at the front end part of the movable mounting frame; the sweeper charging seat (3) is also provided with a charging seat controller, and the left and right driving linear modules, the front and back driving linear modules, the charging seat tentacle (322) and the infrared receiving sensor (323) are respectively and electrically connected with the charging seat controller; the unmanned sweeping vehicle (1) is charged by adopting the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeper controller of the unmanned sweeper (1) according to the navigation information, so that the unmanned sweeper (1) moves to the front of the sweeper charging seat (3);
b2, the infrared emission sensor (14) sends infrared signals to the sweeper charging seat (3), and the infrared signal area sent by the infrared emission sensor (14) is divided into a left signal area, a middle signal area and a right signal area;
b3, the infrared receiving sensor (323) receives the infrared signal sent by the infrared emission sensor (14); when the infrared receiving sensor (323) receives the infrared signal of the left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move towards the right until the infrared receiving sensor (323) receives the infrared signal of the middle signal area; when the infrared receiving sensor (323) receives the infrared signal of the right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move towards the left until the infrared receiving sensor (323) receives the infrared signal of the middle signal area; when the infrared receiving sensor (323) receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after the infrared receiving sensor (323) receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move forwards; when the charging seat tentacles (322) do not contact the sweeper tentacles (13) of the unmanned sweeper (1), the front and back driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacles (322) to continuously move forwards until the charging seat tentacles (322) contact the sweeper tentacles (13) of the unmanned sweeper (1); when the charging seat tentacle (322) contacts the sweeper tentacle (13) of the unmanned sweeper (1), the sweeper charging seat (3) electrically contacts the sweeper tentacle (13) through the charging seat tentacle (322) to charge the power supply battery of the unmanned sweeper (1).
2. A method for performing a cleaning task in a cluster as claimed in claim 1, wherein: the garbage collection device (2) of the garbage collection station comprises a first movable swing arm (21), a second movable swing arm (22), a collection station upper end hinge seat (23) and a collection station lower end hinge seat (24), wherein the collection station upper end hinge seat (23) is located on the upper end side of the collection station lower end hinge seat (24), and the collection station upper end hinge seat (23) and the collection station lower end hinge seat (24) are respectively and tightly mounted on the garbage collection station;
the rear end part of the first movable swing arm (21) is hinged to a hinge seat (23) at the upper end of the collecting station through a pivot, a first driving cylinder (25) is arranged between the first movable swing arm (21) and the hinge seat (24) at the lower end of the collecting station, the cylinder body of the first driving cylinder (25) is hinged to the hinge seat (24) at the lower end of the collecting station through the pivot, and the extending end part of the piston rod of the first driving cylinder (25) is hinged to the middle part of the first movable swing arm (21) through the pivot;
the front end part of the first movable swing arm (21) is hinged with the middle part of the second movable swing arm (22) through a pivot, a second driving cylinder (26) is arranged between the first movable swing arm (21) and the second movable swing arm (22), the cylinder body of the second driving cylinder (26) is hinged with the middle part of the first movable swing arm (21) through a pivot, and the extending end part of the piston rod of the second driving cylinder (26) is hinged with the rear end part of the second movable swing arm (22) through a pivot;
the front end part of the second movable swing arm (22) is provided with a garbage bucket clamp (27), the second movable swing arm (22) is hinged with a clamp driving cylinder (28) at the rear end side of the garbage bucket clamp (27), and the extending end part of a piston rod of the clamp driving cylinder (28) is in driving connection with the garbage bucket clamp (27).
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| CN113353499A (en)* | 2021-06-21 | 2021-09-07 | 南通大学 | Automatic cleaning system and method for vehicle-mounted dustbin of unmanned sweeper |
| CN113408437A (en)* | 2021-06-23 | 2021-09-17 | 南通大学 | Alignment system and method for unmanned sweeper and garbage station |
| CN113944136B (en)* | 2021-11-11 | 2023-05-12 | 安徽工程大学 | Unmanned sweeping vehicle working condition self-adaptive control method |
| CN113882299B (en)* | 2021-11-11 | 2023-04-07 | 吉林大学 | Automatic garbage can replacing method and system for unmanned sweeper |
| CN114717995A (en)* | 2022-04-14 | 2022-07-08 | 海汇汽车制造有限公司 | Method for automatically replacing garbage can of unmanned sweeper |
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